WO2024028352A1 - Procédé mis en œuvre par ordinateur et dispositif conçus pour déterminer un dessin d'un dispositif médical comprenant une partie en forme de tige - Google Patents
Procédé mis en œuvre par ordinateur et dispositif conçus pour déterminer un dessin d'un dispositif médical comprenant une partie en forme de tige Download PDFInfo
- Publication number
- WO2024028352A1 WO2024028352A1 PCT/EP2023/071337 EP2023071337W WO2024028352A1 WO 2024028352 A1 WO2024028352 A1 WO 2024028352A1 EP 2023071337 W EP2023071337 W EP 2023071337W WO 2024028352 A1 WO2024028352 A1 WO 2024028352A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaped portion
- rod shaped
- computer
- magnetic field
- external magnetic
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 108
- 238000013461 design Methods 0.000 title claims abstract description 27
- 230000005291 magnetic effect Effects 0.000 claims abstract description 91
- 210000003484 anatomy Anatomy 0.000 claims abstract description 31
- 241000282414 Homo sapiens Species 0.000 claims abstract description 30
- 241001465754 Metazoa Species 0.000 claims abstract description 30
- 238000005457 optimization Methods 0.000 claims description 23
- 210000004204 blood vessel Anatomy 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000002591 computed tomography Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000002595 magnetic resonance imaging Methods 0.000 description 16
- 239000000696 magnetic material Substances 0.000 description 10
- 239000000463 material Substances 0.000 description 9
- 230000002526 effect on cardiovascular system Effects 0.000 description 6
- 238000004088 simulation Methods 0.000 description 6
- 238000005481 NMR spectroscopy Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 239000004020 conductor Substances 0.000 description 3
- 238000002059 diagnostic imaging Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000005294 ferromagnetic effect Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 230000035790 physiological processes and functions Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000011282 treatment Methods 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000012938 design process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002902 ferrimagnetic material Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- SZVJSHCCFOBDDC-UHFFFAOYSA-N iron(II,III) oxide Inorganic materials O=[Fe]O[Fe]O[Fe]=O SZVJSHCCFOBDDC-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
- 102000004169 proteins and genes Human genes 0.000 description 2
- 108090000623 proteins and genes Proteins 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 206010003658 Atrial Fibrillation Diseases 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 208000002330 Congenital Heart Defects Diseases 0.000 description 1
- 102000004190 Enzymes Human genes 0.000 description 1
- 108090000790 Enzymes Proteins 0.000 description 1
- 206010019280 Heart failures Diseases 0.000 description 1
- 208000025584 Pericardial disease Diseases 0.000 description 1
- 210000000577 adipose tissue Anatomy 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- -1 antibodies Substances 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000011961 computed axial tomography Methods 0.000 description 1
- 208000028831 congenital heart disease Diseases 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 208000029078 coronary artery disease Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000002889 diamagnetic material Substances 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 150000002433 hydrophilic molecules Chemical class 0.000 description 1
- 230000001900 immune effect Effects 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000005865 ionizing radiation Effects 0.000 description 1
- 150000002634 lipophilic molecules Chemical class 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000002503 metabolic effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002539 nanocarrier Substances 0.000 description 1
- 239000002105 nanoparticle Substances 0.000 description 1
- 239000002858 neurotransmitter agent Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000005298 paramagnetic effect Effects 0.000 description 1
- 239000002907 paramagnetic material Substances 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000144 pharmacologic effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229910052697 platinum Inorganic materials 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 102000004196 processed proteins & peptides Human genes 0.000 description 1
- 108090000765 processed proteins & peptides Proteins 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000003491 skin Anatomy 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 229910001868 water Inorganic materials 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/08—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
- A61B18/082—Probes or electrodes therefor
- A61B18/085—Forceps, scissors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0127—Magnetic means; Magnetic markers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/035—DC motors; Unipolar motors
- H02K41/0352—Unipolar motors
- H02K41/0354—Lorentz force motors, e.g. voice coil motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00411—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like actuated by application of energy from an energy source outside the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00595—Cauterization
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/374—NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0009—Making of catheters or other medical or surgical tubes
Definitions
- the present disclosure is directed a computer-implemented method configured to determine a design of a medical device comprising a rod shaped portion, a data processing device comprising a processor configured to carry out the method, a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method, and a computer-readable medium comprising instructions which, when the instructions are executed by a computer, cause the computer to carry out the method.
- Cardiovascular disease is the leading cause of death worldwide according to the World Health Organization, responsible for 17.9 million deaths as of 2019.
- Cardiovascular MRI Magnetic Resonance Imaging
- MR-guided interventional cardiology is a limited field of study due to the lack of MR-compatible tools that can safely operate within the MR environment and perform comparably to commercial catheters.
- an interventional cardiologist uses a commercial catheter shape with a distinct shape that is designed to assist in gaining access to a specific region of the heart of a human being and/or an animal during a catheterization procedure.
- the designated region cannot be accessed, e.g., due to the location of the affected area and/or the mechanical limitations of commercial catheters.
- This calls for either open surgery or recatheterization to introduce a superior shape for the application.
- open-surgery increases patient recovery time and blood loss while recatheterization can add more time and radiation exposure to the intervention while keeping the patient under anesthesia.
- one task of the present disclosure may be to disclose a method and/or an apparatus which are each suitable for enriching the prior art.
- One concrete object of the disclosure can be formulated as to provide a computer- implemented method configured for determining an individual configuration/design of an MRI compatible catheter configured to reach a specific region of the heart of a human being and/or an animal during a catheterization procedure.
- a computer-implemented method configured for determining a design of a medical device comprising a rod shaped portion configured to be inserted into an anatomical structure of a human being and/or an animal.
- the rod shaped portion comprises at least one magnetic element configured and arranged to deform the rod shaped portion using an external magnetic force acting on the at least one magnetic element.
- the method comprises a step of simulating a shape of the rod shaped portion resulting when the at least one element located at a defined position at the rod shaped portion having a defined size is subjected to a defined external magnetic field producing the external magnetic force using a finite element (FE) model of the rod shaped portion.
- FE finite element
- the method comprises a step of determining a difference between the simulated shape and at least one desired shape of the rod shaped portion, the rod shaped portion having at least one desired shape being configured to be inserted into the anatomical structure of the human being and/or the animal.
- the method comprises a step of adapting the defined position, the defined size and/or the defined external magnetic field based on the determined difference using an optimization method.
- the step of simulating, the step of determining and the step of adapting are carried out iteratively until the determined difference is below a defined threshold.
- a computer-implemented method configured for determining a design of a medical device comprising a rod shaped portion, optionally a catheter, such that the rod shaped portion is configured to be inserted into an anatomical structure, optionally a heart, of a human being and/or an animal, optionally through a blood vessel thereof.
- the rod shaped portion comprises at least one coil configured and arranged to deform the rod shaped portion using a Lorentz force.
- the method comprises a step of simulating a shape of the rod shaped portion when the at least one coil located at a defined position at the rod shaped portion having a defined size is supplied with a defined current while a defined external magnetic field acts on the coil using a FE model of the rod shaped portion.
- the method comprises a step of determining a difference between the simulated shape and a desired shape of the rod shaped portion, the rod shaped portion having the desired shape being configured to be inserted into the anatomical structure of the human being and/or the animal.
- the method comprises a step of adapting the defined current, the defined position, the defined size and/or the defined external magnetic field based on the determined difference using an optimization method.
- the step of simulating, the step of determining and the step of adapting are carried out iteratively until the determined difference is below a defined threshold.
- both methods are based on the same inventive idea, as will be discussed in detail below, wherein the first method is directed to a medical device (e.g., to be used in combination with an X-Ray imaging device) comprising a magnetic element permanently generating a static magnetic field and the second method is directed to a medical device (e.g., to be used in combination with an MRI device) comprising a coil configured to generate a magnetic field depending on a current supplied to the coil.
- both devices use magnetic forces to actuate or deform the rod shaped portion. Therefore, if a description is given herein with respect to one of these specific designs, the description applies mutatis mutandis to the other design unless explicitly otherwise stated.
- an automated design process for a technical system i.e., the rod shaped portion of the medical device, comprising at least one simulation step in which the behavior of the rod shaped portion when being subjected to an external magnetic field is simulated, is provided.
- a finite element (FE) model is used to simulate the behavior, i.e., the deformation, of the rod shaped portion caused by the Lorentz force.
- the desired shaped is chosen to be compatible with the intended use of the rod shape portion, i.e., to be suitable to be inserted into the anatomical structure, optionally into the blood vessel of a human being and/or an animal.
- the underlying FE model forms in combination with the desired shape of the rod shaped portion technical boundaries that contribute to technicality or the technical character of the claimed subject matter since they form the basis for a further technical use of the outcomes of the simulation, i.e., the resulting configuration/design of the rod shaped portion of the medical being compatible with the anatomical structure in the magnetic field.
- the desired shape is limited by the physical reality, i.e., by the physical reality of the anatomical structure (e.g., by dimensions of blood vessels etc. in the anatomical structure), and the FE model is also limited by the physical reality, i.e., by the mechanical properties of the rod shaped portion (e.g., length and stiffness thereof as well as the coil dimensions) and the magnetic field (e.g., the orientation of the magnetic field with respect to the at least one coil and the strength of the magnetic field).
- the physical reality i.e., by the physical reality of the anatomical structure (e.g., by dimensions of blood vessels etc. in the anatomical structure)
- the FE model is also limited by the physical reality, i.e., by the mechanical properties of the rod shaped portion (e.g., length and stiffness thereof as well as the coil dimensions) and the magnetic field (e.g., the orientation of the magnetic field with respect to the at least one coil and the strength of the magnetic field).
- the method uses an optimization method to iteratively update/adapt/tune the input parameters (i.e., the defined current, the defined position, the defined size and/or the defined external magnetic field) thereby decreasing the number of iterations needed to find a design that is within the tolerance range, i.e., that achieves a difference below the threshold, in comparison to a straightforward implementation of randomly searching for a suitable design.
- the input parameters i.e., the defined current, the defined position, the defined size and/or the defined external magnetic field
- the method may comprise a step of determining a geometric model of an anatomical structure of a human being and/or an animal in which the rod shaped portion should be inserted, and a step of determining the desired shape of the rod shaped portion based on the determined geometric model.
- the geometric model of the anatomical structure may be determined based on a CT (computer-assisted tomography/computed axial tomography) scan of the anatomical structure.
- the method may include a step of obtaining the CT scan using a CT scanner.
- the method may comprise determining the FE model of the rod shaped portion based on dimensions, e.g. a length and/or a diameter of the coils of the rod shaped portion, and mechanical properties, e.g., a stiffness and/or elasticity of the rod shaped portion, of the rod shaped portion.
- the method comprises outputting the defined current, the defined position, the defined size and/or the defined external magnetic field when the determined difference is below the predefined threshold.
- the defined current, the defined position, the defined size and/or the defined external magnetic field that were at last used by the method and that lead to a difference being below the predefined threshold may be output.
- This output data i.e. , the result of the method, may be considered functional data because it allows manufacturing the rod shaped portion to be suitable for the intended use.
- the method may comprise a step of manufacturing the rod shaped portion of the medical device based on the output the defined size and/or the output defined position, a step of configuring a controller of the medical device configured to supply the at least one coil with a current based on the output defined current, and/or a step of configuring a controller of another medical device configured to generate a magnetic field based on the output defined external magnetic field.
- the difference between the simulated shape and the desired shape of the rod shaped portion is represented by a maximum deflection error among predefined measurement points on the desired shape and the simulated shape.
- a deflection error may be defined as a distance between a predefined measurement point on the desired shape and a corresponding predefined measurement point on the simulated shape, wherein both measurements points have the same distance to a distal end of the rod shaped portion in an initial state of the respective rod shape portion, i.e. , in a state in which the rod shape portion is straight.
- the optimization method may be based on a cost function mapping input parameters comprising the defined current, the defined position, the defined size and/or the defined external magnetic field to the maximum deflection error.
- the optimization method may be based on an optimization problem searching for the arguments of the maxima of the cost function within a predefined search space for the defined current, the defined position, the defined size and/or the defined external magnetic field, respectively.
- the step of simulating, the step of determining and the step of adapting may be carried out iteratively until the determined maximum deflection error is below the predefined threshold.
- the method may comprise a step of determining the defined threshold based on dimensions of the rod shaped portion, optionally based on a length of the rod shaped portion, further optionally as a percentage of the length of the rod shaped portion.
- the method may comprise a step of determining the defined search space for the defined current, the defined position, the defined size and/or the defined external magnetic field based on physical limitations of the rod shaped portion, respectively.
- the defined size and/or the defined external magnetic field may be kept constant, respectively. Additionally or alternatively, a constant step size for adapting the defined current and/or the defined position may be used, respectively.
- the rod shape portion of the medical device may be a catheter, optionally a cardiovascular catheter, configured to be inserted into a blood vessel of a human being and/or an animal, optional a distal end of the catheter.
- the catheter may be a coronary catheter.
- a simulation-based approach for designing such a multi-coil Lorentz forced-based cardiovascular catheter for intervening within MR scanners without the need for additional catheters may be provided.
- a finite element simulation developed to model the nonlinear deformations of the Lorentz forced-based catheter may be provided in combination with a design optimization problem that may be formulated to achieve a desired catheter shape using a Bayesian optimization algorithm.
- this disclosure may take an approach in which Bayesian optimization using Gaussian Processes may be used for arbitrary catheter shapes, e.g., including known angiographic shapes. Therefore, the disclosure is not limited to generate a patient specific desired shape.
- Bayesian optimization (BO) methods are advantageous due to their ability to test a small set of data points using a probabilistic model (Gaussian processes) to account for unknown variances in an experiment.
- the objective function may be tuned to the workspace of the heart in order to maximum coverage while maximizing contact force applied by the catheter on the heart surface to determine the optimal coil and catheter design.
- a data processing device comprising a processor
- the processor is configured to carry out the above described method at least partly.
- a computer program comprises instructions which, when the program is executed by a computer, cause the computer to carry out the above described method at least partly.
- a computer-readable medium optionally a computer-readable storage medium and/or a data signal (e.g., provided via the Internet), is provided, wherein the computer-readable medium comprises instructions which, when the instructions are executed by a computer, cause the computer to carry out the above described method at least partly.
- a medical device comprising a rod shaped portion configured to be inserted into an anatomical structure of a human being and/or an animal.
- the rod shaped portion comprises at least one magnetic element and/or at least one coil configured and arranged to deform the rod shaped portion using an external magnetic force acting on the at least one magnetic element and/or the at least one coil.
- the rod shaped portion comprises a design at least partly determined according to the above described method.
- a computer-implemented method covers claims which involve computers, computer networks or other programmable apparatus, whereby at least one feature is realized by means of a program.
- a computer-implemented method may be a method which is at least partly carried out by a data processing unit, e.g. a computer.
- Electric current may be used. Electric currents create magnetic fields, which may be used to actuate or move the medical device in the (external) magnetic field.
- determining may include carrying out one or more mathematical operations in order to determine based on a given input in a given manner a desired output.
- an electromagnetic coil may be an electrical conductor such as a wire in the shape of a coil, spiral or helix.
- An electric current may be passed through the wire of the coil to generate a magnetic field.
- a current through any conductor creates a circular magnetic field around the conductor due to Ampere's law.
- One advantage of using the coil shape may be that it increases the strength of the magnetic field produced by a given current.
- the magnetic fields generated by the separate turns of wire all pass through the center of the coil and add (superpose) to produce a strong field there. The more turns of wire, the stronger the field produced may be and the stronger the effect of Joule heating may be.
- the external magnetic field may be produced by an MRI device.
- the external magnetic field may have a field strength between 0,05 T and 25 T, optionally between 0,1 T and 21 T, further optionally between 0,1 T and 9,4 T, further optionally between 1 ,5 T and 7,0 T, further optionally between 0,1 T and 3,0 T.
- the external magnetic field may be static.
- the device may be a medical device.
- a medical device may be any device intended to be used for medical purposes.
- a medical device may be an instrument, apparatus, implement, machine, contrivance, implant, in vitro reagent, or other similar or related article, including a component part, or accessory which is intended for use in the diagnosis of disease or other conditions, or in the cure, mitigation, treatment, or prevention of disease, in man or other animals, and/or intended to affect the structure or any function of the body of man or other animals, and which does not achieve its primary intended purposes through chemical action within or on the body of man or other animals and which is not dependent upon being metabolized for the achievement of its primary intended purposes.
- the term “medical device” may or may not include software functions. According to another possible definition the term “medical device” may mean any instrument, apparatus, appliance, software, material or other article, whether used alone or in combination, including the software intended by its manufacturer to be used specifically for diagnostic and/or therapeutic purposes and necessary for its proper application, intended by the manufacturer to be used for human beings or animals for the purpose of diagnosis, prevention, monitoring, treatment or alleviation of disease, diagnosis, monitoring, treatment, alleviation of or compensation for an injury or handicap, investigation, replacement or modification of the anatomy or of a physiological process, and/or control of conception, and which does not achieve its principal intended action in or on the human and/or animal body by pharmacological, immunological or metabolic means, but which may be assisted in its function by such means.
- a rod shaped portion may be a portion or part of the medical device that may have a substantially circular cross section.
- the rod shaped portion may have cylindrical form wherein a height or length of the rod shaped portion exceeds the diameter of the rod shaped portion.
- the tip of the rod shaped portion may be outermost part of the rod shaped portion in a forward direction of the medical device, i.e., a distal end thereof.
- the rod shaped portion may comprise or may be realized using a tube.
- the distal end may be called insertion tip of the medical device.
- a catheter may comprise a thin tube, i.e. the rod shaped portion, made from medical grade materials serving a broad range of functions. Catheters are medical devices that can be inserted in the body to treat diseases and/or perform a surgical procedure.
- a catheter may comprise a thin, flexible tube ("soft" catheter) through catheters are available in varying levels of stiffness depending on the application. This may be taken into account by the (Cosserat) model.
- the catheter may be configured to be inserted into a body cavity, duct, or vessel, brain, skin or adipose tissue. Functionally, the catheter may allow drainage, administration of fluids or gases, access by surgical instruments, and/or perform a wide variety of other tasks depending on the type of catheter.
- the catheter may be a so called probe used in preclinical or clinical research for sampling of lipophilic and hydrophilic compounds, protein-bound and unbound drugs, neurotransmitters, peptides and proteins, antibodies, nanoparticles and nanocarriers, enzymes and vesicles.
- a magnetic resonance imaging device is a medical imaging device configured to be used in magnetic resonance imaging (MRI) which is a medical imaging technique that may be used in radiology to form pictures of the anatomy and the physiological processes of the body.
- MRI scanners use strong magnetic fields, magnetic field gradients, and radio waves to generate images of the organs in the body.
- MRI magnetic resonance imaging
- NMR nuclear magnetic resonance
- consisting of is exhaustive, i.e. , the respective consisting of non-magnetic material does not comprise or contain magnetic material.
- Non-magnetic material is any material that does not meet the definition of a magnetic material according to this disclosure.
- a magnetic material according to this disclosure is any material that may produce its own persistent magnetic field even in the absence of an applied magnetic field. Those materials are called magnets.
- a magnetic material is any material that produces a magnetic field in response to an applied external magnetic field - a phenomenon known as magnetism - wherein the produced magnetic field is considerable in the context of or destroys MRI compatibility of the electric motor. More specifically, there are several types of magnetism, and all materials exhibit at least one of them. However, in this disclosure the term magnetism refers to ferromagnetic and ferrimagnetic materials only. These materials are the only ones that can retain magnetization and become magnets.
- Ferrimagnetic materials which include ferrites and the magnetic materials magnetite and lodestone, are similar to but weaker than ferromagnetics.
- paramagnetic materials such as platinum, aluminum, and oxygen
- diamagnetic materials such as carbon, copper, water, and plastic
- which are repelled by both poles and which are compared to paramagnetic and ferromagnetic substances even more weakly repelled by a magnet are also considered non-magnetic materials.
- the term “is configured to” in this disclosure should be interpreted in a manner limiting the respective device which is configured to be used or to do something in that the device is structurally suitable or adapted to be used for the specific purpose.
- the medial device especially the rod shape portion and more specifically the tip or distal end thereof, may be configured to be inserted into an anatomic structure, optionally a blood vessel, of an animal and/or a human being. Therefore, the rod shaped portion may have dimensions that are limited by the dimensions of the anatomic structure, optionally an inner diameter of the blood vessel, of the human being and/or the animal in which it is configured to be inserted.
- the rod shaped portion may have an outer diameter of 0,1 mm to 50 mm.
- a multi-coil catheter may be constructed using a 6 F polyurethane tube and solenoid coils wrapped using 80 pm enameled copper wire with 150 coil loops.
- all solenoids may be wound on separate tubing and reattached using heat shrink to form the catheter.
- Wire leads may be soldered using 400 pm copper wire.
- a device is to be understood as “at least one device and/or exactly one device”.
- Fig. 1 schematically shows a flow-chart of a computer-implemented method according to the disclosure configured for determining a configuration of a medical device comprising a rod shaped portion according to the disclosure
- Fig. 2 schematically shows a perspective view on a catheter whose configuration/design is to be determined using said computer-implemented method.
- FIG 1 a flowchart for a computer-implemented method 100 configured for determining a design of a medical device 1 comprising a rod shaped portion 2 (see figure 2) being configured to be inserted into an anatomical structure of a human being and/or an animal is shown.
- the flexible/elastic rod shaped portion 2 comprises at least one coil (or magnetic element) 3 configured and arranged to deform the rod shaped portion using an external magnetic field B o acting on the at least one coil (magnetic element) 3 resulting in case the coil 3 is used a Lorentz force.
- the coil 3 is used a Lorentz force.
- five coils (or magnetic elements) 3 are used.
- the method comprises an optional step 101 of determining a geometric model of the anatomical structure of the human being and/or the animal.
- the method comprises an optional step 102 of determining the desired shape of the rod shaped portion 2 based on the determined geometric model.
- the geometric model of the anatomical structure may be determined based on a CT scan of the anatomical structure.
- Steps 101 and 102 allow for a patient specific determination of the desired shape.
- one or more desired shapes for the rod shaped portion may be loaded from a database comprising the one or more desired shapes, e.g., commercial catheter shapes widely used in cardiovascular catherization.
- the method comprises an optional step 103 of defining an initial coil position, an initial current and/or coil size for each one of the coils 3, respectively, and an initial magnetic field strength and/or orientation of the external magnetic field B o .
- the method comprises an optional step 104 of (initially) determining a FE model of the rod shaped portion 2 based on dimensions and mechanical properties of the rod shaped portion.
- the method comprises a step 105 of simulating a shape of the rod shaped portion 2 resulting when the coils 3 located at the respective defined position at the rod shaped portion 2 having the respective defined size are supplied with the respective defined current while the respective defined external magnetic field B o acts on the coils 3 using the FE model of the rod shaped portion 2.
- the finite element (FE) model may solve the deformation of the rod shaped portion, e.g., a (soft) catheter, driven by the Lorentz force, which is generated by the current-carrying coils 5 in a (high) magnetic field such within an MRI device.
- the model may be implemented using a FE solver and a code written to simulate magnetic torques applied on the rod shaped portion 2. It may be assumed that the rod shaped Y1 portion 2 is oriented at 90 ° with respect to a static magnetic field B o to maximize the output torque from the coils 5 and to simplify the following search for suitable parameters. The same is true for the coil size and/or the number of coils, which is fixed to five coils 3 in this specific example.
- the method comprises a step 106 of determining a difference between the simulated shape and a desired shape of the rod shaped portion 2, the rod shaped portion 2 having the desired shape being configured to be inserted into the anatomical structure of the human being and/or the animal.
- the method comprises a step 105 of determining a difference between the simulated shape and a desired shape of the rod shaped portion 2, the rod shaped portion 2 having the desired shape being configured to be inserted into the anatomical structure of the human being and/or the animal.
- the method comprises a step 107 of determining if a difference between the simulated shape and a desired shape of the rod shaped portion 2 is below a defined threshold.
- the difference between the simulated shape and the desired shape of the rod shaped portion 2 may be represented by a maximum deflection error among predefined measurement points on the desired shape and the simulated shape.
- the method comprises a step 108 of adapting the defined current, the defined position, the defined size and/or the defined external magnetic field B o based on the determined difference using an optimization method.
- a constant step size for adapting the defined current, the defined size, the defined external magnetic field B o and/or the defined position may be used, respectively.
- the optimization method may be based on a cost function mapping input parameters comprising the defined current, the defined position, the defined size and/or the defined external magnetic field to the maximum deflection error.
- the optimization method may be based on an optimization problem searching for the arguments of the maxima of the cost function within a predefined search space for the defined current, the defined position, the defined size and/or the defined external magnetic field, respectively.
- the step 108 may comprise an optional step of determining the defined search space for the defined current, the defined position, the defined size and/or the defined external magnetic field based on physical limitations of the rod shaped portion 2, respectively.
- a cost function of the proposed optimization method may be defined as: which maps the input parameters to scalar cost value, (i.e. the maximum deflection error among the measurement points on the desired and simulated shapes).
- the input parameter 0 [d, I] may consist of the position of n many coils on the catheter, d e R n , and the current values, I e R n , running on them.
- the number of coils and their sizes may be kept constant and set to for example 3 and 5 mm (e.g., corresponding to 150 turns), respectively, to limit the search space size.
- the optimization problem may be formulated as: where 0 and D(0) are the complete search space and the obtained deflection error for a given input parameter set 0, respectively.
- the proposed optimization method may iteratively test input parameters until the maximum error reaches the target value of, for example, 2% of the catheter’s length (e.g., defined as 15 cm). While defining the search space, the ranges of the input parameters may be determined based on the physical limitations of the catheter design. Accordingly, the coil currents may be defined between -300 mA and 300 mA, whereas the limits of each coil’s position may be found considering the total length of the catheter, coils and other coils’ positions.
- the step sizes for coil currents and positions used to discretize the search space may be 10 mA and 5 mm (L coa ).
- Coil positions may be defined as the distance from the: 1 ) tip point of the catheter to the first coil (L dist ) and 2) end point of the (n + 1 th ) coil to the (n th ) coil.
- the results of the design algorithm indicate it is feasible to achieve a library of 100 shapes using various design inputs including coil locations and current inputs, wherein a study shows that the shapes may be achieved with less than 2% error and solved in less than 100 iterations (median: 10, average: 17.7, max: 95).
- step 104 updates or adapts the FE model based on the updated defined current, the defined position, the defined size and/or the defined external magnetic field B o .
- the above described steps 104 - 108 are carried out iteratively until the determined difference is below a defined threshold, e.g., 2% of the length (e.g., of a defined part) of the rod shaped portion 2. If the difference, e.g., the determine maximum deflection error, is below the defined or fixed threshold, the method moves forward with an optional step 109 of further processing the results of the method, i.e., the defined current, the defined position, the defined size and/or the defined external magnetic field B o .
- a defined threshold e.g., 2% of the length (e.g., of a defined part) of the rod shaped portion 2. If the difference, e.g., the determine maximum deflection error, is below the defined or fixed threshold, the method moves forward with an optional step 109 of further processing the results of the method, i.e., the defined current, the defined position, the defined size and/or the defined external magnetic field B o .
- the optional step 109 may comprise a step of outputting the defined current, the defined position, the defined size and/or the defined external magnetic field, a step of manufacturing the rod shaped portion of the medical device based on the output the defined size and/or the output defined position, a step of configuring a controller of the medical device configured to supply the at least one coil with a current based on the output defined current, and/or a step of configuring a controller of another medical device configured to generate a magnetic field based on the output defined external magnetic field B o .
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Endoscopes (AREA)
Abstract
La présente divulgation concerne un procédé mis en œuvre par ordinateur conçu pour déterminer un dessin d'un dispositif médical (1) comprenant une partie en forme de tige (2) destinée à être insérée dans une structure anatomique d'un être humain et/ou d'un animal, la partie en forme de tige comprenant au moins un élément magnétique (3) conçu et agencé pour déformer la partie en forme de tige à l'aide d'une force magnétique externe agissant sur l'élément. Le procédé comprend une étape de simulation d'une forme de la partie en forme de tige résultant lorsque le ou les éléments situés au niveau d'une position définie au niveau de la partie en forme de tige ayant une taille définie sont soumis à un champ magnétique externe défini produisant la force magnétique externe à l'aide d'un modèle FE de la partie en forme de tige, une étape de détermination d'une différence entre la forme simulée et au moins une forme souhaitée de la partie en forme de tige.
Applications Claiming Priority (14)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/816,774 US20240041550A1 (en) | 2022-08-02 | 2022-08-02 | Method for controlling a movement of a medical device in a magnetic field |
US17/816,774 | 2022-08-02 | ||
US17/816,779 US20240041532A1 (en) | 2022-08-02 | 2022-08-02 | Catheter and method for controlling the catheter |
US17/816,779 | 2022-08-02 | ||
DE202022104403.1 | 2022-08-02 | ||
DE202022104403.1U DE202022104403U1 (de) | 2022-08-02 | 2022-08-02 | Vorrichtung zur Steuerung der Bewegung einer medizinischen Vorrichtung in einem Magnetfeld |
DE202022104405.8U DE202022104405U1 (de) | 2022-08-02 | 2022-08-02 | Katheter und Vorrichtung zur Steuerung des Katheters |
LU502623A LU502623B1 (en) | 2022-08-02 | 2022-08-02 | Endoscope and method for controlling the endoscope |
DE202022104405.8 | 2022-08-02 | ||
LULU502623 | 2022-08-02 | ||
EP22212545.2 | 2022-12-09 | ||
LU503167A LU503167B1 (en) | 2022-08-02 | 2022-12-09 | Computer-implemented method and device configured to determine a design of a medical device comprising a rod shaped portion |
EP22212545.2A EP4316336A1 (fr) | 2022-08-02 | 2022-12-09 | Dispositif conçu pour être inséré dans un vaisseau sanguin d'un être humain et/ou d'un animal, et moteur électrique et module magnétohydrodynamique pour le dispositif |
LULU503167 | 2022-12-09 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2024028352A1 true WO2024028352A1 (fr) | 2024-02-08 |
Family
ID=87560956
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2023/071339 WO2024028354A1 (fr) | 2022-08-02 | 2023-08-01 | Endoscope et méthode de commande de l'endoscope |
PCT/EP2023/071337 WO2024028352A1 (fr) | 2022-08-02 | 2023-08-01 | Procédé mis en œuvre par ordinateur et dispositif conçus pour déterminer un dessin d'un dispositif médical comprenant une partie en forme de tige |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2023/071339 WO2024028354A1 (fr) | 2022-08-02 | 2023-08-01 | Endoscope et méthode de commande de l'endoscope |
Country Status (1)
Country | Link |
---|---|
WO (2) | WO2024028354A1 (fr) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202005007091U1 (de) * | 2005-05-03 | 2005-08-04 | Esa Patentverwertungsagentur Sachsen-Anhalt Gmbh | Katheter |
US20070088197A1 (en) * | 2000-02-16 | 2007-04-19 | Sterotaxis, Inc. | Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments |
EP2305115A1 (fr) * | 2008-06-06 | 2011-04-06 | Microport Medical (Shanghai) Co., Ltd. | Procédé de simulation de la forme coudée d'un cathéter et cathéter à induction magnétique |
US20150104085A1 (en) * | 2013-10-10 | 2015-04-16 | Medtronic, Inc. | Method and System for Ranking Instruments |
US20180125581A1 (en) * | 2016-11-08 | 2018-05-10 | Henry Ford Health System | Selecting a medical device for use in a medical procedure |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6304769B1 (en) | 1997-10-16 | 2001-10-16 | The Regents Of The University Of California | Magnetically directable remote guidance systems, and methods of use thereof |
AU3845099A (en) | 1998-05-15 | 1999-12-06 | Robin Medical Inc. | Method and apparatus for generating controlled torques on objects particularly objects inside a living body |
-
2023
- 2023-08-01 WO PCT/EP2023/071339 patent/WO2024028354A1/fr unknown
- 2023-08-01 WO PCT/EP2023/071337 patent/WO2024028352A1/fr unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070088197A1 (en) * | 2000-02-16 | 2007-04-19 | Sterotaxis, Inc. | Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments |
DE202005007091U1 (de) * | 2005-05-03 | 2005-08-04 | Esa Patentverwertungsagentur Sachsen-Anhalt Gmbh | Katheter |
EP2305115A1 (fr) * | 2008-06-06 | 2011-04-06 | Microport Medical (Shanghai) Co., Ltd. | Procédé de simulation de la forme coudée d'un cathéter et cathéter à induction magnétique |
US20150104085A1 (en) * | 2013-10-10 | 2015-04-16 | Medtronic, Inc. | Method and System for Ranking Instruments |
US20180125581A1 (en) * | 2016-11-08 | 2018-05-10 | Henry Ford Health System | Selecting a medical device for use in a medical procedure |
Also Published As
Publication number | Publication date |
---|---|
WO2024028354A1 (fr) | 2024-02-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Gosselin et al. | Characterization of the deflections of a catheter steered using a magnetic resonance imaging system | |
Stoianovici et al. | “MRI Stealth” robot for prostate interventions | |
Erin et al. | Magnetic resonance imaging system–driven medical robotics | |
DE69818526T2 (de) | System zur Feststellung der Position von einem Magneten vereinigt mit einem verweilmedizinischen Instrument | |
US7274192B2 (en) | Combined open and closed magnet configuration for MRI | |
Bruns et al. | Magnetically steered robotic insertion of cochlear-implant electrode arrays: System integration and first-in-cadaver results | |
WO1997017622A1 (fr) | Instrument pourvu d'une couche conductrice ultra fine et procede d'imagerie par resonance magnetique de cet instrument | |
US20140210472A1 (en) | Reducing the radio-frequency transmit field in a predetermined volume during magnetic resonance imaging | |
JP2024037819A (ja) | 介入のための開口を備える片側磁気共鳴画像システムおよび当該システムを動作させるための手法 | |
US8093896B2 (en) | Uniform magnetic field spherical coil for MRI | |
WO2002074358A2 (fr) | Navigation de catheter au sein d'un dispositif d'imagerie par resonance magnetique (mr) | |
EP1337295A1 (fr) | Appareil de guidage de catheter et procede | |
Lalande et al. | In vivo demonstration of magnetic guidewire steerability in a MRI system with additional gradient coils | |
CN112348858A (zh) | 多模态图像的可变形配准 | |
Wang | Magnetic resonance–guided active catheter tracking | |
LU503167B1 (en) | Computer-implemented method and device configured to determine a design of a medical device comprising a rod shaped portion | |
Yildirim et al. | A 20‐gauge active needle design with thin‐film printed circuitry for interventional MRI at 0.55 T | |
Dhaliwal et al. | Review of clinical and technological consideration for MRI-guided robotic prostate brachytherapy | |
WO2003092496A1 (fr) | Procede et ensemble d'imagerie par resonance magnetique et guidage du catheter | |
WO2024028352A1 (fr) | Procédé mis en œuvre par ordinateur et dispositif conçus pour déterminer un dessin d'un dispositif médical comprenant une partie en forme de tige | |
CN116725671A (zh) | 跟踪包括铁磁流体的传感器的系统和方法 | |
KR20200101286A (ko) | 마이크로 로봇 구동장치 | |
EP3165192A2 (fr) | Mise à jour d'une carte volumétrique | |
Abolfathi et al. | Independent and hybrid magnetic manipulation for full body controlled soft continuum robots | |
Gao et al. | Real‐time probe tracking using EM‐optical sensor for MRI‐guided cryoablation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 23751616 Country of ref document: EP Kind code of ref document: A1 |